Posture recognition method and electronic device

Abstract

A posture recognition method is applied to a mobile terminal, the mobile terminal includes a visual inertial unit and an accompanying unit different from the visual inertial unit, and the accompanying unit is started earlier than the visual inertial unit. The method includes: acquiring by the accompanying unit initialization parameters used by the visual inertial unit for initialization when the mobile terminal is in a stable state; and acquiring by the visual inertial unit the initialization parameters from the accompanying unit when an initialization condition is met, and initializing the visual inertial unit based on the acquired initialization parameters, to output posture data of the mobile terminal based on an initialization result.

The invention claimed is: 
     
       1. A posture recognition method, applied to a mobile terminal, wherein the mobile terminal comprises a visual inertial unit and an accompanying unit different from the visual inertial unit, the accompanying unit is started earlier than the visual inertial unit, and the method comprises:
 acquiring by the accompanying unit initialization parameters used by the visual inertial unit for initialization in response to determining that the mobile terminal is in a stable state; and 
 acquiring by the visual inertial unit the initialization parameters from the accompanying unit in response to determining that an initialization condition is met, and initializing the visual inertial unit based on the acquired initialization parameters, to output posture data of the mobile terminal based on an initialization result, 
 wherein the initialization condition comprises at least one of following conditions: 
 the visual inertial unit is started; and 
 the posture data output by the visual inertial unit is inaccurate, 
 wherein the method further comprises: 
 acquiring a mileage value output by an odometer comprises in the mobile terminal, and calculating a mileage difference between the acquired mileage value and a mileage value calculated based on the posture data output by the visual inertia unit; 
 wherein in response to determining that the mileage difference is greater than a preset difference, it is determined that the posture data output by the visual inertial unit is inaccurate. 
 
     
     
       2. The method according to  claim 1 , wherein the accompanying unit is started automatically in response to determining that the mobile terminal is powered on. 
     
     
       3. The method according to  claim 1 , further comprising:
 acquiring motion parameters of the mobile terminal; 
 wherein it is determined that the mobile terminal is in the stable state in response to determining that the acquired motion parameters represent that the mobile terminal is in at least one of following states: 
 a static state, a low-speed motion state with a moving speed lower than a preset speed or a regular motion state. 
 
     
     
       4. The method according to  claim 1 , wherein acquiring the initialization parameters used by the visual inertial unit for initialization comprises:
 acquiring a gravity direction and a zero bias of the mobile terminal as the initialization parameters used by the visual inertial unit for initialization. 
 
     
     
       5. The method according to  claim 1 , wherein acquiring the initialization parameters used by the visual inertial unit for initialization comprises:
 acquiring acceleration parameters from an inertial sensor comprised in the mobile terminal to determine the initialization parameters used by the visual inertial unit for initialization based on the acquired acceleration parameters. 
 
     
     
       6. The method according to  claim 1 , after reinitialization in response to determining that the posture data output by the visual inertial unit is inaccurate, further comprising:
 acquiring historical posture data output by the visual inertial unit before determining that the posture data output by the visual inertial unit is inaccurate, and current posture data after reinitialization; and 
 determining posture data of the mobile terminal in a reinitialization process based on the historical posture data and the current posture data. 
 
     
     
       7. An electronic device, comprising:
 a processor; and 
 a memory for storing instructions executable by the processor; 
 wherein the processor is configured to: 
 instruct an accompanying unit to acquire initialization parameters used by a visual inertia unit for initialization in response to determining that a mobile terminal is in a stable state; and 
 instruct the visual inertial unit to acquire the initialization parameters from the accompanying unit in response to determining that a initialization condition is met, and to be initialized based on the acquired initialization parameters, to output posture data of the mobile terminal based on an initialization result, 
 wherein the initialization condition comprises at least one of following conditions: 
 the visual inertial unit is started; and 
 the posture data output by the visual inertial unit is inaccurate, 
 wherein the processor is further configured to: 
 acquire a mileage value output by an odometer comprises in the mobile terminal, and calculating a mileage difference between the acquired mileage value and a mileage value calculated based on the posture data output by the visual inertia unit; 
 wherein in response to determining that the mileage difference is greater than a preset difference, it is determined that the posture data output by the visual inertial unit is inaccurate. 
 
     
     
       8. The electronic device according to  claim 7 , wherein the accompanying unit is started automatically in response to determining that the mobile terminal is powered on. 
     
     
       9. The electronic device according to  claim 7 , wherein the processor is further configured to:
 acquire motion parameters of the mobile terminal; 
 wherein it is determined that the mobile terminal is in the stable state in response to determining that the acquired motion parameters represent that the mobile terminal is in at least one of following states: 
 a static state, a low-speed motion state with a moving speed lower than a preset speed or a regular motion state. 
 
     
     
       10. The electronic device according to  claim 7 , wherein the processor is further configured to:
 instruct the accompanying unit to acquire a gravity direction and a zero bias of the mobile terminal as the initialization parameters used by the visual inertial unit for initialization. 
 
     
     
       11. The electronic device according to  claim 7 , wherein the processor is further configured to:
 instruct the accompanying unit to acquire acceleration parameters from an inertial sensor comprised in the mobile terminal to determine the initialization parameters used by the visual inertial unit for initialization based on the acquired acceleration parameters. 
 
     
     
       12. The electronic device according to  claim 7 , wherein after reinitialization in response to determining that the posture data output by the visual inertial unit is inaccurate, the processor is further configured to:
 acquire historical posture data output by the visual inertial unit before determining that the posture data output by the visual inertial unit is inaccurate, and current posture data after reinitialization; and 
 determine posture data of the mobile terminal in a reinitialization process based on the historical posture data and the current posture data.